基于飞行仿真的捷联惯导算法测试平台  

Test platform for SINS algorithm based on flight simulation

作　　者：李军伟[1] 程咏梅[1] 陈克喆[1] 陈思静[1] 宋春华[1] 

机构地区：[1]西北工业大学自动化学院,西安710072

出　　处：《中国惯性技术学报》2012年第5期530-535,共6页Journal of Chinese Inertial Technology

基　　金：航空科学基金项目(20100853010)

摘　　要：针对捷联惯导算法测试中真实飞行轨迹数据难以获得的问题,建立了一种基于飞行仿真的捷联惯导算法测试平台。首先构建了测试平台的系统结构,在建立六自由度非线性飞机数学模型基础上,采用Stateflow实现了预定航迹多模态的飞行仿真,并通过坐标变换将飞行参数转换为测试基准轨迹数据;然后根据捷联惯导系统原理,由测试基准轨迹参数推导出陀螺仪和加速度计的理想输出,并对其误差进行建模,由此获得惯性组件的模拟输出数据;最后通过两种不同的姿态更新算法进行惯导解算并比较。仿真实验结果表明:产生的测试基准数据符合飞行力学的特点,很好地反映了飞机的动态特性,可以有效地评估不同捷联惯导算法的性能。Since the actual flight trajectory data were difficult to obtain in the strapdown inertial navigation system（SINS） algorithm test,a test platform for SINS algorithm based on flight simulation was designed.Firstly,the system configuration of the platform was established,the multi-mode flight simulation was realized through Stateflow on the base of 6-Degrees of Freedom（6-DOF） nonlinear mathematical model of plane,and the output parameters of flight simulation were transformed into the test benchmark data of SINS algorithm through coordinate transforming.Then the ideal output of gyroscopes and accelerometers was deduced according to the SINS principle,and modeling their errors to obtain the output data of inertial measurement unit（IMU）.At last,two different attitude updating algorithms were compared.The simulation results indicate that the flight trajectory data exactly reflect the flight dynamic characteristics of aircraft,and can be used to evaluate the performance of various SINS algorithms.

关 键 词：捷联惯导系统 轨迹发生器 飞行仿真 坐标变换 姿态更新算法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]